Abstract: A robotic system comprising a mobile chassis, a conveyor oriented substantially parallel to a longitudinal axis of the chassis, one or more robotic arms disposed adjacent to the conveyor, and one or more cameras positioned to view at least a portion of a top surface of the conveyor is disclosed. The system uses the mobile chassis, the conveyor, and the robotic arms to load items into a truck or other container, including by using image data generated by the one or more cameras to assess a state of items on the top surface of the conveyor; determine based at least in part on the image data that an additional item is to be added to the top surface of the conveyor; and operate a robotically controlled structure to cause an item to be added to the top surface of the conveyor.

Abstract: A robotic system is disclosed to control multiple robots to cooperatively load/unload a truck or other container. In various embodiments, image data is received and used to control a first robotic arm and a second robotic arm to load or unload objects into or from the truck or other container, including by loading or unloading one or more of the objects using the first robotic arm and the second robotic arm together to cooperatively to grasp and move each of one or more of the objects along a corresponding trajectory.

Abstract: The present application discloses a robotic stack pusher system, and a method and a computer system for controlling the robotic stack pusher system. The robotic stack pusher system includes an actuation device and a plurality of pusher structures that are substantially planar. At least one of the plurality of pusher structures is nested within one or more other pusher structures of the plurality of pusher structures. The actuation device is the actuation device is operatively coupled to at least one of the plurality of pusher structures. The actuation device is configured to actuate a position of the plurality of pusher structures between a retracted state and an extended state in response to a control signal. Actuation of the actuation device causes the one of the plurality of structures that is nested to extend telescopically with sufficient force and to controllably push a payload.

Abstract: A variable payload robot is disclosed. In various embodiments, a robot includes two or more joints, each actuated by an associated joint motor and each joint motor having a different capacity, the robot comprising an end effector configured to grasp an object. A processor coupled to the robot is configured to determine based at least in part on the respective capacities of at least a subset of the joint motors and a payload related attribute of the object a plan and trajectory to move the object from a source location to a destination location.

Abstract: A robotic system is disclosed to control multiple robots to cooperatively load/unload a truck or other container. In various embodiments, image data is received and used to control a first robotic arm and a second robotic arm to load or unload objects into or from the truck or other container, including by loading or unloading one or more of the objects using the first robotic arm and the second robotic arm together to cooperatively to grasp and move each of one or more of the objects along a corresponding trajectory.

Abstract: A universal gripper system is disclosed. In various embodiments, the gripper system includes a hub body; a mounting structure configured to enable the hub body to be connected to the distal end of a robotic arm; a palm interface configured to removably mechanically couple to the hub body an interchangeable palm or tool; and a resource supply structure configured to supply a resource to the interchangeable palm or tool.

Abstract: An extensible robotic system is disclosed. In various embodiments, the system includes a plurality of robotically controlled elements and a processor coupled to a robotically controlled element included in the plurality of robotically controlled elements and configured to control operation of the robotically controlled element to which it is coupled via communications sent via a standard interface implemented across said plurality of robotically controlled elements and to communicate with the robotic system via a communication interface using a communication protocol associated with the robotic system.

Abstract: The present application discloses a robotic stack mover system, and a method and a computer system for controlling the robotic stack mover system. The robotic stack mover system includes a driving unit comprising a motor, a drive chain, a tensioning unit that enforces tension of the drive chain, and a guide rail traversing a distance between the driving unit and the tensioning unit. The motor is operatively coupled to the drive chain, and the motor is configured to drive the drive chain when the motor is driven. The guide rail comprises or supports the drive chain. The driving chain comprises a set of pusher units. The pusher units are respectively configured to engage one or more vehicles inserted to the system, and to cause one or more vehicles to traverse a path having a same direction as a longitudinal direction of the guide rail when the driving chain is driven.

Abstract: A robotic structure having a robotic arm is autonomously operated to pick an item using an end effector of the robotic arm along a predetermined path from a source location to a destination location. A number of identifiers for the item are known in advance. The picked item is moved by the end effector in a manner that improves a likelihood that at least one identifier on the picked item is obtained by one or more sensors. A number of obtained identifiers associated with the picked item is compared to a number of expected identifiers. The robotic structure is autonomously operated to place the item at the destination location based at least in part on the comparison.

Abstract: An end effector is disclosed. The end effector includes a first set of one or more suction cups of a first size having a first diameter, and a second set of one or more suction cups of a second size having a second diameter that is smaller than the first diameter. The end effector further includes a first actuation mechanism configured to apply suction to at least a subset of the first set of suction cups independently of actuation of the second set of suction cups and a second actuation mechanism configured to apply suction to at least a subset of the second set of suction cups independently of actuation of the first set of suction cups.

Abstract: A robotic system is disclosed comprising a communication interface and a processor coupled to the communication interface and configured to: receive via the communication interface an indication to establish a conveyance path to convey one or more items from a source location at an originating end of the conveyance path to a destination location at a terminating end of the conveyance path; determine programmatically a plan to arrange and configured one or more conveyance structures to provide the conveyance path; and invoke one or more robots to position, couple as needed, and configure as needed the one or more conveyance structures to provide the conveyance path.

Abstract: A robotic unloader/loader system is disclosed. The system includes a first robot configured to autonomously approach and enter a truck or other container and unload items from the truck or other container by placing each item on an outbound conveyor or other material handling equipment; and a set of one or more additional robots configured to work outside the truck or other container, including by picking items from the conveyor or other material handling equipment, from a position to which the items have been conveyed by the conveyor or other material handling equipment, and placing each item in a corresponding one of a plurality of destination locations.

Abstract: A multi-purpose robotic platform is disclosed. In various embodiments, the robotic platform includes a memory configured to store configuration information for each of a plurality of robotic applications; and a processor coupled to the memory and configured to: receive an indication to perform tasks associated with a selected one of the plurality of robotic applications; use the stored configuration information to determine one or both of a required software configuration and a required hardware configuration associated with the selected robotic application; update one or both of a current software configuration and a current hardware configuration of the robotic system as needed to match the required software configuration and the required hardware configuration; and use the updated software configuration and the updated hardware configuration to autonomously perform tasks associated with the selected robotic application.

Abstract: The present application discloses a robotic control system, and a method and a computer system for controlling a robot. The robotic control system includes a memory and one or more processors coupled to the memory. The memory is configured to store configured to store a model of a robot having a plurality of axes of control including at least a linear axis and one or more rotational axes. The one or more processors are configured to use the model to control the robot to perform a task, including by sending to the robot a set of control signals to cause the robot to move with respect to two or more of said axes of control including at least the linear axis.

Abstract: A method and system for obtaining an identifier from an item is disclosed. The method includes autonomously operating a robotic structure having a robotic arm to pick an item using an end effector of the robotic arm along a predetermined path from a source location to a destination location according to a plan. The picked item is moved according to the plan. An active measure is determined to be performed at least in part to obtain an identifier determined to be missing based on information received via the communication interface from one or more sensors. The robotic structure is autonomously operated to place the item at the destination location based at least in part on the plan.

Abstract: A robotic system is disclosed which includes a robotic arm comprising a base and a set of serially connected links and joints connected to the base; an enabler joint assembly comprising a mounting location at which the base of the robotic arm is mounted and having a rotational axis, offset from the mounting location, about which the enabler joint assembly is configured to rotate the mounting location; and a processor configured to control the robotic arm and the enabler joint assembly, including by using the enabler joint assembly to position the robotic arm to operate within an extended operating space defined by a reach of the robotic arm as extended by the enabler joint assembly.

Abstract: The present application discloses a robotic modular stack mover system, and a method and a computer system for controlling the robotic modular pusher system. The robotic modular stack mover system includes a first stack mover system configured to cause a vehicle to traverse a first path and a second stack mover system configured to cause the vehicle to traverse a second path. The first stack mover system moves the vehicle along the first path from a source location to a first end location. The vehicle is retrieved from the first end location and the second mover system moves the vehicle along the second path to a destination location.

Abstract: Data indicating a corresponding safety state information indicating an extent to which that operating zone currently is or is not available to the robotic system to perform tasks using one or more robotic instrumentalities associated with a robotic system is used, for each of a plurality of operating zones, to dynamically schedule and perform tasks associated with a higher level objective. The corresponding safety state information associated with the first operating zone indicating one of a plurality of safety states associated with a presence of a human worker in the first operating zone is received from one or more sensors associated with a first operating zone of the plurality of operating zones. Autonomous behavior of the one or more robotic instrumentalities is altered based on the one of the plurality of safety states associated with the presence of the human worker in the first operating zone indicated by the corresponding safety state information.

Abstract: A robotic system to control multiple robots to perform a task cooperatively is disclosed. A first robot determines to perform a task cooperatively with a second robot, moves independently to a first grasp position to grasp an object associated with the task, receives an indication that the second robot is prepared to perform the task cooperatively, and moves the object independently of the second robot in a leader mode along a trajectory determined by the first robot. The second robot assists the first robot in performing the task cooperatively, at least in part by moving independently to a second grasp position, grasping the object, and cooperating with the first robot to move the object, at least in part by operating in a follower mode of operation to maintain engagement with the object as the first robot moves the object along the trajectory.

Abstract: A robotic loading/unloading system is disclosed. In various embodiments, sensor data is received via a communication interface. The sensor data is used to determine a position and orientation of an extendable conveyor relative to a robotic loader comprising one or more robotic arms mounted on a robotically controlled rover. The determined position and orientation of the extendable conveyor relative to the robotic loader are used to control one or both of the extendable conveyor and the robotic loader to place the extendable conveyor and robotic loader to position a distal end of the extendable conveyor within reach of the one or more robotic arms at a location within a work area from which one or more pick or placement locations within the work area are within reach of at least one of the one or more robotic arms.